Title :
H∞, adaptive, PID and fuzzy control: a comparison of controllers for vehicle lane keeping
Author :
Chaib, Salim ; Netto, Mariana S. ; Mammar, Said
Author_Institution :
INRETS, Versailles, France
Abstract :
We provide, in this paper an overview as well as a comparison of four controllers for the vehicle lateral control problem. H∞, adaptive, fuzzy and PID controllers are compared by simulations over a test track circuit. Curvature and wind perturbations as well as variations on the speed and on the adherence coefficient are introduced in the simulations.
Keywords :
H∞ control; adaptive control; feedback; fuzzy control; perturbation techniques; three-term control; vehicles; H∞ controller; PID controller; adaptive controller; adherence coefficient; curvature perturbation; fuzzy controller; output feedback; test track circuit; vehicle lane keeping controller; vehicle lateral control problem; wind perturbation; Adaptive control; Control systems; Fuzzy control; Open loop systems; Programmable control; Roads; Shape control; Three-term control; Vehicles; Weight control;
Conference_Titel :
Intelligent Vehicles Symposium, 2004 IEEE
Print_ISBN :
0-7803-8310-9
DOI :
10.1109/IVS.2004.1336370
